I started out not being able to sing at all. Couldn't match the pitch, I just sounded like I was trying to "talk in tune". My voice would get very tired very quickly too.
It took a long time, but the change is huge. I can sing in tune now. I can sing much higher. It sounds pleasant. My voice doesn't get tired.
Expect to take 2 or 3 years to really get somewhere. Singing is strange, you can't really see what other singers or yourself are doing. With the piano you can take a look at your teachers hands, but with singing you have to go on a kinda of exploration into sensations in your body, with the teacher as an experienced guide.
Singing is one of the few skills I would recommend to literally everyone.